Apparatus for remote handling of plugs and sockets

ABSTRACT

An apparatus for the making and breaking of a plug and socket connection within a hazardous environment by remote handling means includes at least one receiving bracket adapted to receive a positioning and retaining plate. The positioning and retaining plate has one of a plug and a socket fixed thereto in a predetermined orientation to permit making or breaking of a connection with the other of a plug and a socket. The at least one receiving bracket and the fixed plug or socket are movable in a direction parallel to the axis of the fixed plug or socket on slider means. The apparatus includes means for moving the at least one receiving bracket and the fixed plug or socket relative to the other of a plug and a socket which is fixed in a co-operating axial and rotational orientation thereto so as to make or break the connection. The at least one receiving bracket has means to permit the fixed plug or socket to be placed in or removed from the at least one receiving bracket by the remote handling means.

The present invention relates to apparatus suitable for handling plugsand sockets remotely and, in particular though not exclusively, plugsand sockets having a plurality of individual pins and connectors thereinand requiring accurate rotational and linear alignment in order to bemated without damage.

Difficulties arise in hazardous environments for example whereconnections between plugs and sockets have to be made and/or brokenremotely by, for example, manipulator arms or other remote handlingdevices. Whilst manipulators are good at linear positioning, they arenot so good where placement in an axial direction relative to themanipulator and rotation about the axis are required since there isfrequently little or no compliance in conventional plug and socketdesigns and it is also frequently not possible for an operator todetermine how much force is being applied by the manipulator,consequently leading to breakages. Many current plug and socket designsfor use in hazardous areas are very expensive and overly complex for theuse to which they are intended to be put.

In some hazardous installations such as nuclear plants, it is sometimesnecessary to connect plugs and sockets which contain up to eightyindividual pin and socket elements which need very accurate rotationaland axial positioning to avoid damage thereto.

EP-A-0613763 describes apparatus for the remote connection anddisconnection of plugs and sockets in a hostile environment such as a‘hot’ cell in a nuclear plant. However, the apparatus described requirespurpose designed and made plugs and sockets and also requires the use oftwo robotic devices used in coordination with each other. Furthermore,the plug element requires significant manipulation about its axis inorder to be placed in the correct orientation in a positioning jig whichthen needs to be placed on the specially machined socket prior toconnection of the plug thereto. Such manipulation is very difficult toachieve, especially where two manipulator/robotic arms have to be movedin unison, and is further complicated in circumstances where there maybe no direct line of sight to the operation.

It is an object of the present invention to provide apparatus for makingand breaking plug and socket connections easily by remote handling meanssuch as manipulator arms for example.

According to the present invention there is provided apparatus for themaking and breaking of plug and socket connections by remote handlingmeans, the apparatus comprising: at least one receiving bracket meansadapted to receive a positioning and retaining plate, the positioningand retaining plate having one of a plug or a socket fixed thereto in apredetermined orientation to permit making or breaking of the connectionwith the other of a socket or plug; said at least one receiving bracketand said fixed plug or socket being movable in a direction parallel tothe axis of said plug or socket on slider means; and, means for movingsaid at least one receiving bracket and said held plug or socketrelative to the other of said socket or plug which is fixed in aco-operating axial and rotational orientation thereto so as to make orbreak said connection.

The remote handling means may comprise a robot or manipulator forexample.

The apparatus according to the present invention may have two receivingbrackets to receive the plug and the socket respectively, the twobrackets holding the plug and socket in a required orientation to enablea connection to be made or broken and allowing mutual relative axialmovement between the two receiving brackets along a making and breakingaxis.

The apparatus according to the present invention is intended to enableconnections to be made between: a plug and a socket which are eachdisposed at the end of a flexible lead; a plug and a socket, only one ofwhich is disposed at the end of a flexible lead, the other of the plugand socket being fixed on a piece of plant in a particular orientationfor example within a hazardous area; and, a plug and a socket where thesocket for example is disposed on the interior wall in a particularorientation for example of a contained hazardous area and it isnecessary to make and break plug connections to that socket for powersupplies to plant for example housed with the contained area. Therefore,it may only be necessary to handle and manipulate one of the plug or thesocket according to the particular circumstances.

The plug and socket connections being made and broken may be forelectrical connections via cables; liquid connections via hydraulichoses for example; and, gas connections via pneumatic hoses for example.Essentially, the apparatus of the present invention may be used whereconnections of any type need to be made and broken. However, theapparatus of the present invention is particularly advantageous wherethe plug and socket contain a plurality of individual pin and socketelements, for example, and where they require to be mated in a singlefixed orientation relative to each other, in particular where rotationalalignment about the common plug and socket axis is required.

The receiving bracket may comprise a flat rectangular plate having aslot therein to receive the plug or socket. Opposed edges of the platemay be provided with inturned flange portions to receive and hold aco-operating flat plate to which the plug or socket is fixed in adesired orientation. Other alternative designs of receiving bracket andplug/socket fixture may be employed as will be apparent to those skilledin the mechanical engineering art. For example the receiving bracket maycomprises two vertical pins which receives a plate having co-operatingchannels, the plate being fixed to the plug or socket.

The receiving bracket may be mounted on slider rails to allow movementalong a making/breaking axis of the plug and socket. Such rails maycomprise round rods for example on which the bracket is mounted viasliding bearings. Where there are two receiving brackets for the plugand socket respectively, either or both of the brackets may be movable.However, in one embodiment of the present invention, one bracket isfixed relative to the other and the connection is made or broken bymovement of one bracket only. Alternatively, other forms of rails may beused instead of round rods, the only requirement being that the plug andsocket be maintained in a desired relationship with respect to makingand breaking of the connection without placing unnecessary stress oneither component.

The moving means may be a lever arm and suitable linkage connected tothe moveable receiving bracket, movement of the lever arm causing theplug and socket connection to be made or broken. Alternatively, acomponent of the apparatus such as the plug or socket positioning plateor the receiving bracket may be provided with a tab or other grippablefeature to enable a gripper of a manipulator to move the receivingbracket in the appropriate direction. Other forms of moving means such ascrew-threaded rods, pneumatic or hydraulic cylinders and piston rodsfor example may be employed according to circumstances as will bedescribed hereinbelow.

Apparatus according to the present invention may include or may bemounted on a base plate or mounting fixture which may be fixed to plantor a suitable fixture within the particular environment in which it iscontained. In this way only a single robotic/manipulation arm isrequired to effect making and breaking of the plug and socket.

A particular advantage of the apparatus of the present invention is thatthe manipulator only has to place the plug or socket, which is fixed toa retaining plate in a desired orientation, in the receiving bracketwhich is desirably generally vertical and with which the manipulator iseasily able to align by virtue of appropriate movements in thehorizontal plane. Alignment of the plug and socket is automaticallyeffected by virtue of one or the other or both being placed in thereceiving bracket(s) in their retaining plate. The only other functionneeded from the manipulator is actuation of the moving means which againis merely movement in a linear direction from one position to anotherand does not require any alignment by rotation or any other positioningof the plug or the socket to effect a connection.

In order that the present invention may be more fully understood,examples will now be described by way of illustration only withreference to the accompanying drawings, of which:

FIG. 1 shows a side elevation of an example of a first embodiment ofapparatus according to the present invention including a base locationplate;

FIG. 2 shows an end elevation of the apparatus of FIG. 1;

FIG. 3 shows a plan view of the base location plate of FIG. 1;

FIG. 4 shows a side elevation of a second embodiment of apparatusaccording to the present invention;

FIG. 5 shows an end elevation of the apparatus as shown in FIG. 4;

FIG. 6 shows an elevation of a schematic third embodiment of apparatusaccording to the present invention; and

FIGS. 7A and 7B which show schematic diagrams of how the three differentembodiments shown in the preceding figures might be incorporated into anexample of a practical closed hazardous environment.

Referring now to the drawings and where the same features are denoted bycommon reference numerals.

FIGS. 1 to 3 show a first embodiment 10 of apparatus according to thepresent invention. The apparatus is an in-line connector intended toallow making and breaking of a connection between a plug 12 and a socket14 which are disposed on the ends of two flexible cables 16, 18,respectively for electrically linking together two pieces of plant (notshown) or a power supply to plant for example. The apparatus includes abase plate 20 having two upstanding plates 22, 24. The upstanding plate22 is further connected to the upstanding plate 24 by two cylindricalslider rods 26 on which a first receiving bracket 28 is slidably mountedby means of bearing bushes 30 to enable the first receiving bracket 28to move in a horizontal direction to the right as viewed in FIG. 1. Thesecond upstanding plate 24 effectively forms a second receiving bracket32 which is in a stationary fixed position. Both receiving brackets 28,32 have inturned flanges 36, 38, respectively along the two vertical andbottom horizontal edges thereof. The entry portions 40, 42 into theinturned flanges 36, 38, respectively may also be provided with taperedlead-in portions so as to provide some positioning tolerance for themanipulator and ease entry of the plates 50, 52. Effectively, the firstand second receiving brackets are in the form of a frame (see FIG. 2) byvirtue of the central area being cut away to receive the plug 12 andsocket 14 therein. The plug 12 is fixed to a first retaining plate 50 inan aperture therein in a predetermined rotational orientation, theretaining plate 50 being dimensioned to be received in the inturnedflanges of the first bracket 30 and the plug 12 being fixed therein in apredetermined orientation. Similarly, the socket 14 is fixed within anaperture in a predetermined rotational orientation, cooperating withthat of the plug in the first retaining plate 50, in a second retainingplate 52 dimensioned to be received within the inturned flanges of thesecond receiving bracket 32 in an orientation such that movement of thefirst receiving bracket 28 and plug 12 towards the socket willautomatically result in the plug and socket mating as requiredregardless of how many individual mating pin and socket elements arecontained in the plug 12 and socket 14. The plates 50, 52 are furtherprovided with extension tabs 56, 58, respectively to enable them to beconveniently gripped by the gripper fingers 60 of a manipulator (notshown). A handle 64 pivoted 66 at the first receiving bracket and at itslower end 68 to a fixture 70 extending between the two upstanding plates22, 24 is provided to enable the first receiving bracket and plug to bemoved laterally with respect to the second receiving bracket and socketto enable a connection to made and broken between them. The upper end 74of the handle 64 is conveniently shaped for gripping by the manipulatorfingers 60. The base plate 20 has holes 76 which cooperate with locationpins 78 on a further plate 80 which is conveniently fixed to an exposedhorizontal upper surface of a piece of plant or a wall or shelf forexample so as to be positively located for easy access by themanipulator.

In operation, the manipulator fingers 60 drop the plate 50 and plug 12into the first receiving bracket 28 and the plate 52 and socket 14 intothe second receiving bracket 32 when the first and second receivingbrackets are in the positions indicated with the handle in the fulllines indicated at the left of FIG. 1. Once the plug and socket havebeen positioned, the handle 64 is moved from left to right, as shown bythe dashed lines, to make the connection. Essentially, the gripper 64only needs to move the handle from one position on the left to a secondposition on the right, there being no other rotational or positionalalignments being necessary these having been automatically accommodatedby the plug and socket being held in the retaining plates 50, 52 inpredetermined rotational orientations. Breaking the connection merelyinvolves movement of the handle 64 from right to left.

FIGS. 4 and 5 show an example of a second embodiment 90 of apparatusaccording to the present invention for making and breaking a connectionwith a junction box 92 for distributing power supplies, for example, toother items of plant or apparatus (not shown). The junction box is fixedto a convenient stable platform or base plate 94 and has an integralsocket 96 to which it is desired to connect a plug 98 having a flexiblepower supply lead 100 (shown in part only). The apparatus 90 accordingto the present invention includes a face plate 102 fixed to the frontface 104 of the junction box, an upstanding plate 106, slider rods 108linking the face plate 102 and upstanding plate 106; and, a first (andonly) receiving bracket 110, mounted on sliding bearing bushes 112running on the slider rods 108, for receiving the plug 98. As in theprevious embodiment, the receiving bracket has inturned flange portions116 having a tapered lead-in 118 for receiving the plug 98 which isfixed to a positioning and retaining plate 120 in a desired orientationso as to mate with the socket 96. The plate 120 is provided with agripping tab 122 for convenient gripping by a manipulator 124,Similarly, the receiving bracket 110 is also provided with gripping tabs128 for gripping by the manipulator 124, the tabs 128 being set axiallyrearwardly of the receiving bracket 110 to allow space for the bracket110 to be slid in a forwardly direction to allow mating of the socket 96and plug 98.

Again, as with the embodiment described with respect to FIGS. 1 to 3, itis only necessary for the manipulator to place the plug 98 into the slotprovided by the inturned flange 116 in the receiving bracket 110 byvertically placing therein via the gripping tab 122. The connectionbetween the socket 96 and plug 98 being made and broken merely bymovement of the position of the receiving bracket 110 from right to leftor vice versa as seen in FIG. 4. No rotational or other positioning ororientation of the plug and socket with respect to each other isrequired.

FIG. 6 shows a schematic elevation of a third embodiment 140 ofapparatus according to the present invention providing a power supplythrough a wall 142 to the interior 144 of a cell. A socket 146 is fixedto the inside face 148 of the cell wall, the power supply lead 150therefrom passing through the wall 142 to the outside 152. In a similarmanner to the first and second embodiments, a first receiving bracket156 is provided to receive a plug 160 fixed in a predeterminedorientation, to cooperate with the socket 146, to a positioning andretaining plate 162. However, in this embodiment a screw-threaded rod164 is rotatably fixed to the first receiving bracket 156 at theposition 166 and passes through a screw-threaded plate 170 fixed to theinterior wall of the cell. The end of the threaded rod 164 remote fromthe receiving bracket 156 is provided with a handle 176, for example, toenable rotation thereof, such rotation, depending on direction, causingthe receiving bracket 156 and plug 160 to move towards or away from thesocket 146 to make or break the connection therebetween. The bracket 156moves on slider rods 180 which prevent rotation of the bracket 156. Asbefore, the positioning plate 162 is provided with a suitable grippingtab 172 to facilitate gripping by a manipulator 174. The receivingbracket 156 may be further provided with slider rods and bearings as inthe previous two embodiments in order to maintain alignment between thesocket and plug and prevent any rotational tendency of the bracket 156.

In the above embodiment the handle 176 may be replaced by an electricmotor drive and limit switches for example or the screwed rod 164 couldbe replaced by a pneumatic or hydraulic cylinder and piston rod toeffect movement of the bracket 156 and plug 160. If required, the thirdembodiment may be further simplified by provision of a gripping tab (notshown) as with the first and second embodiments for gripping andmovement of the receiving bracket by the manipulator.

FIG. 7 shows two schematic diagrams of examples of how the threepreceding embodiments may be employed in practice.

FIG. 7A shows the third embodiment 140 supplying power to, for example,an oven 180 via an in-line connector of the first embodiment 10.

FIG. 7B shows an example of the third embodiment 140 supplying power toa terminal connector box 92 via an example of the second embodiment 90.

There are very many other examples of where the apparatus according tothe present invention may be employed in hazardous areas and also inso-called clean areas which are not hazardous but are required to bekept clean and free of contaminants such as in electronic assembly areasor in pharmaceutical manufacturing areas for example.

Thus, it will be clear that the apparatus of the present inventionprovides an economic, more efficient and much simplified means ofremotely making and breaking plug and socket connections, especiallywhere such connections need to be made between rotationally orientatedplug and sockets.

What is claimed is:
 1. An apparatus for the making and breaking of aplug and socket connection within a hazardous environment by remotehandling means, the apparatus comprising: at least one receiving bracketadapted to receive a positioning and retaining plate, the positioningand retaining plate having one of a plug and a socket fixed thereto in apredetermined orientation to permit making or breaking of a connectionwith the other of a plug and a socket; said at least one receivingbracket and said fixed plug or socket being movable in a directionparallel to the axis of said fixed plug or socket on slider means; andmeans for moving said at least one receiving bracket and said fixed plugor socket relative to the other of a plug and a socket which is fixed ina co-operating axial and rotational orientation thereto so as to make orbreak said connection; wherein said at least one receiving bracket hasmeans to permit said fixed plug or socket to be placed in or removedfrom said at least one receiving bracket by said remote handling means.2. The apparatus according to claim 1 having two receiving brackets toreceive the plug and the socket, respectively.
 3. The apparatusaccording to claim 2 wherein one of said receiving brackets is in afixed position.
 4. The apparatus according to claim 1 wherein saidreceiving bracket comprises a flat rectangular plate having a slottherein to receive the fixed plug or socket.
 5. The apparatus accordingto claim 4 wherein opposed edges of the plate are provided with inturnedflange portions to receive and hold the co-operating positioning andretaining plate to which the fixed plug or socket is fixed in a desiredorientation.
 6. The apparatus according to claim 1 wherein saidreceiving bracket comprises two vertical pins and receives a platehaving co-operating channels, the plate being fixed to the fixed plug orsocket.
 7. The apparatus according to claim 1 wherein the receivingbracket is mounted on slider rails to allow movement along amaking/breaking axis of the plug and socket.
 8. The apparatus accordingto claim 7 wherein the rails comprise round rods on which the bracket ismounted via sliding bearings.
 9. The apparatus according to claim 1wherein the moving means includes a lever arm and suitable linkageconnected to the moveable receiving bracket.
 10. The apparatus accordingto claim 1 wherein the moving means includes a tab fixed to saidreceiving bracket for gripping by a manipulator.
 11. The apparatusaccording to claim 1 wherein the moving means comprises at least one of:a screw-threaded rod; a pneumatic cylinder; a hydraulic cylinder; and apiston rod.
 12. The apparatus according to claim 1 wherein said plug andsocket connection being made and broken forms a part of at least one ofan electrical connection via cables; a liquid connection via hoses; anda gas connection via hoses.
 13. The apparatus according to claim 1further including a base plate for fixing said apparatus to a firmsurface.
 14. An apparatus for the making and breaking of a connectionbetween a plug and a socket within a hazardous environment by a remotehandling device, the apparatus comprising: a first element and a secondelement fixed in a co-operating axial and rotational orientation to saidfirst element, said first element being one of a plug and a socket andsaid second element being the other of a plug and a socket; apositioning and retaining plate having said first element fixed theretoin a predetermined orientation; and a receiving bracket adapted toreceive said positioning and retaining plate; wherein said receivingbracket and said first element are movable relative to said secondelement so as to make or break said connection; wherein said receivingbracket and said first element are movable in a direction parallel to anaxis of said first element; wherein said receiving bracket permits saidfirst element to be placed in or removed from said receiving bracket bysaid remote handling device.
 15. The apparatus of claim 14 including anactuator operative to move said receiving bracket and said first elementrelative to said second element.
 16. An apparatus for the making andbreaking of a plug and socket connection within a hazardous environmentby remote handling means, the apparatus comprising: at least onereceiving bracket adapted to receive a positioning and retaining plate,the positioning and retaining plate having one of a plug and a socketfixed thereto in a predetermined orientation to permit making orbreaking of a connection with the other of a plug and a socket; said atleast one receiving bracket and said fixed plug or socket being movablein a direction parallel to the axis of said fixed plug or socket onslider means; and means for moving said at least one receiving bracketand said fixed plug or socket relative to the other of a plug and asocket which is fixed in a co-operating axial and rotational orientationthereto so as to make or break said connection; wherein said at leastone receiving bracket has means to permit said fixed plug or socket tobe placed in said at least one receiving bracket by said remote handlingmeans.
 17. An apparatus for the making and breaking of a connectionbetween a plug and a socket within a hazardous environment by a remotehandling device, the apparatus comprising: a first element and a secondelement fixed in a co-operating axial and rotational orientation to saidfirst element, said first element being one of a plug and a socket andsaid second element being the other of a plug and a socket; apositioning and retaining plate having said first element fixed theretoin a predetermined orientation; and a receiving bracket adapted toreceive said positioning and retaining plate; wherein said receivingbracket and said first element are movable relative to said secondelement so as to make or break said connection; wherein said receivingbracket and said first element are movable in a direction parallel to anaxis of said first element; wherein said receiving bracket permits saidfirst element to be placed in said receiving bracket by said remotehandling device.